Google does index XML sitemaps (like any XML file). If Google is aware of a URL and it returns a valid response then it's going to pass Google's inclusion rules and could get indexed. Personally, I only submit the sitemap through GWT and include a Sitemap: reference in robots.txt and this is certainly enough to get it indexed.
The recommended method to prevent these files from being indexed by Google is to include an X-Robots-Tag HTTP response header when serving the XML sitemap. For example:
X-Robots-Tag: noindex
Just like including a robots META tag in HTML files, the X-Robots-Tag header can be used for any type of file.
Reference: This document (from Nov 2008!) appears to quote our very own John Mueller (Google) with regards to the use of the X-Robots-Tag response when dealing with XML sitemaps.
Yes, Google Will Index & Rank Your XML Sitemap File
For more information see Google's developer guide:
Robots meta tag and X-Robots-Tag HTTP header specifications
/sitemap.xmllisted in robots.txt and then that links to a different set of other sitemaps like/sitemap-123.xmland/sitemap-124.xml. I regenerate the sitemaps every day and the numbers change daily. The one that is indexed is a fairly old one. I don't link to it anywhere on my site, but it is possible that some other site has a link to it somewhere. – Stephen Ostermiller May 20 '14 at 16:59/sitemap.xmlto GWT, but I don't submit the sub-sitemaps that change daily. – Stephen Ostermiller May 20 '14 at 18:45/sitemap.xmlI assume that this particular sitemap will now fall out of the index. I'd like to prevent Google from showing them to search users in the future too. – Stephen Ostermiller May 20 '14 at 22:47